/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usart.h"
#include "control.h"
#include "fdcan.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for Task_5ms */
osThreadId_t Task_5msHandle;
const osThreadAttr_t Task_5ms_attributes = {
  .name = "Task_5ms",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Task_10ms */
osThreadId_t Task_10msHandle;
const osThreadAttr_t Task_10ms_attributes = {
  .name = "Task_10ms",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow1,
};
/* Definitions for Task_20ms */
osThreadId_t Task_20msHandle;
const osThreadAttr_t Task_20ms_attributes = {
  .name = "Task_20ms",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow2,
};
/* Definitions for Task_40ms */
osThreadId_t Task_40msHandle;
const osThreadAttr_t Task_40ms_attributes = {
  .name = "Task_40ms",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityLow3,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */


/* USER CODE END FunctionPrototypes */

void Start_5ms_Task(void *argument);
void Start_10ms_Task(void *argument);
void Start_20ms_Task(void *argument);
void Start_40ms_Task(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of Task_5ms */
  Task_5msHandle = osThreadNew(Start_5ms_Task, NULL, &Task_5ms_attributes);

  /* creation of Task_10ms */
  Task_10msHandle = osThreadNew(Start_10ms_Task, NULL, &Task_10ms_attributes);

  /* creation of Task_20ms */
  Task_20msHandle = osThreadNew(Start_20ms_Task, NULL, &Task_20ms_attributes);

  /* creation of Task_40ms */
  Task_40msHandle = osThreadNew(Start_40ms_Task, NULL, &Task_40ms_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */

  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_Start_5ms_Task */
/**
  * @brief  Function implementing the Task_5ms thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_Start_5ms_Task */
void Start_5ms_Task(void *argument)
{
  /* USER CODE BEGIN Start_5ms_Task */
  /* Infinite loop */
  for(;;)
  {
    osDelay(5);
  }
  /* USER CODE END Start_5ms_Task */
}

/* USER CODE BEGIN Header_Start_10ms_Task */
/**
* @brief Function implementing the Task_10ms thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Start_10ms_Task */
void Start_10ms_Task(void *argument)
{
  /* USER CODE BEGIN Start_10ms_Task */
  /* Infinite loop */
  for(;;)
  {
    osDelay(10);
  }
  /* USER CODE END Start_10ms_Task */
}

/* USER CODE BEGIN Header_Start_20ms_Task */
/**
* @brief Function implementing the Task_20ms thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Start_20ms_Task */
void Start_20ms_Task(void *argument)
{
  /* USER CODE BEGIN Start_20ms_Task */
  /* Infinite loop */
  for(;;)
  {
    osDelay(20);
  }
  /* USER CODE END Start_20ms_Task */
}

/* USER CODE BEGIN Header_Start_40ms_Task */
/**
* @brief Function implementing the Task_40ms thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_Start_40ms_Task */
void Start_40ms_Task(void *argument)
{
  /* USER CODE BEGIN Start_40ms_Task */
  /* Infinite loop */
	int16_t buff1[7]={1500,1500};
	int16_t buff2[7];
	int16_t buff3[7];
  for(;;)
  {
//		uavcan_pwm_send(63,buff1);
//		osDelay(10);
//		uavcan_pwm_send(64,buff2);
//		osDelay(10);
//		uavcan_pwm_send(63,buff1);
//		osDelay(10);
//		uavcan_pwm_send(65,buff3);
//    osDelay(10);
  }
  /* USER CODE END Start_40ms_Task */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

